GPS妨害環境下でのセンサドリフトに耐えるUAVの脱出時間解析
Towards Resilient UAV: Escape Time in GPS Denied Environment with Sensor Drift
GPS攻撃検知時にIMUのみで状態推定するUAV向け耐障害フレームワークを提案し、推定誤差が許容範囲に留まる安全時間「脱出時間」の下限を解析的に導出した。
著者: Hyung-Jin Yoon, Wenbin Wan, Hunmin Kim, Naira Hovakimyan, Lui Sha, Petros G. Voulgaris
分類: eess.SY, cs.RO, cs.SY
原文アブストラクト
This paper considers a resilient state estimation framework for unmanned aerial vehicles (UAVs) that integrates a Kalman filter-like state estimator and an attack detector. When an attack is detected, the state estimator uses only IMU signals as the GPS signals do not contain legitimate information. This limited sensor availability induces a sensor drift problem questioning the reliability of the sensor estimates. We propose a new resilience measure, escape time, as the safe time within which the estimation errors remain in a tolerable region with high probability. This paper analyzes the stability of the proposed resilient estimation framework and quantifies a lower bound for the escape time. Moreover, simulations of the UAV model demonstrate the performance of the proposed framework and provide analytical results.
